Full-automatic sorting machine

Abstract

The utility model discloses a full-automatic sorting machine which comprises a working table, and further comprises two material frames, a plurality of conveying belts, a plurality of conveying belts, a plurality of conveying belts, a plurality of conveying belts, a plurality of conveying belts and a plurality of conveying belts, wherein the two material frames are arranged on the working table; the two material racks are correspondingly arranged, and each material rack is provided with a plurality of notches; a plurality of guiding and limiting mechanisms are arranged on each material rack, and the guiding and limiting mechanisms are used for guiding and limiting the tray; the material pushing mechanisms are equal to the guide limiting mechanisms in number and correspond to the guide limiting mechanisms in position, and each material pushing mechanism is installed on the workbench; the device is high in automation degree, and realizes comprehensive and efficient detection and sorting of products.

Description

Technical Field

[0001] The utility model relates to the technical field of semiconductor manufacturing, in particular to a full-automatic sorting machine. Background Art

[0002] In the semiconductor manufacturing process, chip testing is a key link in ensuring product quality and performance, and the tested chips need to be sorted. With the improvement of chip integration and the complexity of functions, the difficulty of testing and sorting is also increasing. However, in the existing methods, chip testing and sorting are usually done manually or require manual assistance, resulting in low testing and sorting efficiency and high labor intensity. Utility Model Content

[0003] The purpose of the present invention is to provide a fully automatic sorting machine to solve the problems raised in the above background technology.

[0004] In order to solve the above technical problems, the utility model provides the following technical solutions: a fully automatic sorting machine, comprising a workbench, and also comprising: a material rack, wherein the material rack has two, and the two material racks are arranged on the workbench; the two material racks are arranged correspondingly, and each of the material racks is provided with multiple notches; a guide and limiting mechanism, each material rack is provided with multiple guide and limiting mechanisms, and the number of notches and guide limiting mechanisms on the same material rack is equal and the positions correspond; the guide and limiting mechanisms on the two material racks are arranged one-to-one, and the guide and limiting mechanisms are used to guide and limit the tray; a pushing mechanism, the pushing mechanism is equal in number to the guide and limiting mechanisms and the positions correspond, and each of the pushing mechanisms is installed on the workbench; a linear feeding mechanism, a linear feeding mechanism is provided under each corresponding two guide and limiting mechanisms; a detection mechanism, the detection mechanism is arranged on the workbench; a counter-position adsorption mechanism, the counter-position adsorption mechanism is used to adsorb the products in the tray and drive the products through the detection mechanism; a waste collection mechanism, the waste collection mechanism is installed on the workbench.

[0005] Furthermore, the positioning adsorption mechanism includes: a linear conveying device 1, which is installed on the workbench; a support base, which is installed on the linear conveying device 1; a protective cover, which is arranged on the support base; a suction nozzle, which has multiple suction nozzles, and the multiple suction nozzles are arranged in parallel, and each of the suction nozzles is installed on the support base; a vacuum generator, the number of the vacuum generators is equal to that of the suction nozzles and the positions correspond, a conduit is connected between each vacuum generator and the corresponding suction nozzle, and the vacuum generator is arranged on the protective cover.

[0006] Furthermore, the alignment adsorption mechanism also includes: an alignment camera, on which a lens is installed; a height adjustment device, which is arranged on the support seat and is used to adjust the height of the alignment camera.

[0007] Furthermore, the height adjustment device includes: a camera fixing seat, which is movably set on a support seat, and the alignment camera is installed on the camera fixing seat; an adjustment motor, which is installed on the support seat; a cam, which is fixedly connected to the output end of the adjustment motor; and a connecting rod, the two ends of the connecting rod are respectively hinged on the cam and the camera fixing seat.

[0008] Furthermore, the detection mechanism includes a sorting camera, and the sorting camera is installed on the workbench.

[0009] Furthermore, the guide and limiting mechanism includes: a first guide plate, which has two first guide plates and are symmetrically arranged; a second guide plate, which has two second guide plates and are symmetrically arranged; the two first guide plates and the two second guide plates are arranged in a one-to-one correspondence, and the two first guide plates and the two second guide plates form an area for accommodating the tray; a driving cylinder, which is installed on the material rack, and the output end of the driving cylinder is connected to a support block, and the support block is used to support the tray.

[0010] Furthermore, the pushing mechanism includes: a support frame, which is installed at the bottom of the workbench; a drive motor, which is installed on the support frame; a screw rod, one end of which is rotatably set on the workbench, and the other end of the screw rod is fixedly connected to the output end of the drive motor; a screw nut, which is fitted on the outside of the screw rod; a lifting plate, which is fixedly sleeved on the outside of the screw nut; a lifting frame, which has two lifting frames, and the two lifting frames are symmetrically arranged; a lifting rod, a lifting rod is connected between each of the lifting frames and the lifting plate, and the lifting rod penetrates the workbench.

[0011] Furthermore, the linear feeding mechanism includes: a second linear conveying device, which is installed on the workbench; and a tray, which is arranged on the second linear conveying device and is used to place a tray.

[0012] Furthermore, the waste collection mechanism includes: a linear conveying device three, which is installed on the workbench; a bracket, which is arranged on the linear conveying device three, and the linear conveying device three is used to drive the bracket to move.

[0013] Compared with the existing technology, the beneficial effects achieved by the present invention are: the present invention can quickly adsorb products through the positioning adsorption mechanism and quickly drive the products through the detection mechanism; it realizes automatic detection and sorting of products on the tray, has a high degree of automation, and realizes comprehensive and efficient detection and sorting of products. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention.

[0015] Figure 1 It is a schematic diagram of the overall structure of the first embodiment of the present utility model.

[0016] Figure 2 This is a schematic structural diagram of another angle of the overall embodiment of the present invention.

[0017] Figure 3 It is a schematic diagram of the material rack structure of Example 1 of the present utility model.

[0018] Figure 4 This is a schematic diagram of the coordination of a material rack, a tray, and a material pushing mechanism according to the first embodiment of the present invention.

[0019] Figure 5 It is a structural schematic diagram of the material pushing mechanism of the first embodiment of the present utility model.

[0020] Figure 6 It is a schematic diagram of the tray structure of the first embodiment of the present utility model.

[0021] Figure 7 It is a structural diagram of the counter-position adsorption mechanism according to the first embodiment of the present utility model.

[0022] Figure 8 This is a schematic diagram of the installation of a suction nozzle and a camera according to the first embodiment of the present invention.

[0023] Figure 9 It is a schematic structural diagram of the three-height adjustment device of the present utility model.

[0024] In the figure: 1. workbench; 2. material rack; 21. notch; 3. guide limit mechanism; 31. first guide plate; 32. second guide plate; 33. cylinder; 34. support block; 4. pushing mechanism; 41. support frame; 42. driving motor; 43. lifting plate; 44. lifting rod; 45. lifting frame; 46. screw; 47. screw nut; 5. alignment adsorption mechanism; 51. linear conveying device 1; 52. support seat; 53. protective cover; 54. vacuum generator; 55. suction nozzle; 56. alignment camera; 57. lens; 58. height adjustment device; 581. adjustment motor; 582. cam; 583. connecting rod; 584. camera fixing seat; 6. detection mechanism; 61. sorting camera; 7. linear feeding mechanism; 71. linear conveying device 2; 72. tray; 8. waste collection mechanism; 81. linear conveying device 3; 82. bracket. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned purposes, features and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below in conjunction with the accompanying drawings, that is, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] Example 1

[0027] See also Figures 1-8 The utility model provides a technical solution: a fully automatic sorting machine, including a workbench 1, on which two material racks 2 are arranged, and the two material racks 2 are arranged correspondingly; each material rack 2 is provided with four notches 21, and the notches 21 on the two material racks 2 are arranged in a one-to-one correspondence; each material rack 2 is provided with four guide limiting mechanisms 3, and the four guide limiting mechanisms 3 correspond to the positions of the four notches 21 respectively; the guide limiting mechanism 3 includes two symmetrically arranged first guide plates 31 and two symmetrically arranged second guide plates 32, the two first guide plates 31 are also respectively arranged in a one-to-one correspondence with the two second guide plates 32, the two first guide plates 31 and the two second guide plates 32 are all arranged on the material rack 2, the two first guide plates 31 and the two second guide plates 32 are respectively close to the edges of the notches 21, and the two first guide plates 31 and the two second guide plates 32 enclose an area for storing and limiting the tray; the guide limiting mechanism 3 also includes a cylinder 33, such as Figure 4As shown, there are four cylinders 33, which are arranged in two rows and two columns. A support block 34 is provided at the output end of each cylinder 33, and the support block 34 is used to support the tray. Specifically, a slot that is compatible with the support block 34 is provided on the tray. The support block 34 is driven to move by the cylinder 33, so that the support block 34 is inserted into the slot or detached from the slot.

[0028] A plurality of pushing mechanisms 4 are provided on the workbench 1. The number of pushing mechanisms 4 is equal to that of the notches 21 and their positions correspond, that is, each pushing mechanism 4 corresponds to each guide limit mechanism 3 respectively; the pushing mechanism 4 includes a support frame 41 fixed to the bottom of the workbench 1, a drive motor 42 is mounted on the support frame 41, the output end of the drive motor 42 is fixedly connected to a screw rod 46, and the end of the screw rod 46 away from the drive motor 42 is movably connected to the workbench 1 through a bearing; the external thread of the screw rod 46 is matched with a screw rod nut 47, and the external fixed sleeve of the screw rod nut 47 is provided with a lifting plate 43; the pushing mechanism 4 includes a support frame 41 fixed to the bottom of the workbench 1, a drive motor 42 is mounted on the support frame 41, and the output end of the drive motor 42 is fixedly connected to the The mechanism 4 also includes two symmetrically arranged lifting frames 45, and the two lifting frames 45 correspond to the positions of the notches 21; two lifting rods 44 are connected between each lifting frame 45 and the lifting plate 43, and the lifting rods 44 penetrate the workbench 1; specifically, a through hole adapted to the lifting rod 44 is provided on the workbench 1, and the lifting rod 44 passes through the through hole; the screw rod 46 is driven to rotate by the driving motor 42, and since the screw rod 46 is equipped with a screw nut 47 on the outside, and under the limiting action of the lifting rod 44, the lifting plate 43, the lifting rod 44 and the lifting frame 45 can be moved up and down.

[0029] A linear feeding mechanism 7 is provided under the two corresponding guide limit mechanisms 3, that is, Figure 1 As shown, there are four linear feeding mechanisms 7; the linear feeding mechanism 7 includes a linear conveying device 2 71, and the linear conveying device 2 71 is installed on the workbench 1; a tray 72 is provided on the linear conveying device 2 71, and the tray 72 is adapted to the tray, and the tray 72 is used to place the tray, and the linear conveying device 2 71 is used to convey the tray 72.

[0030] The guide limit mechanism 3 on one of the material racks 2 is used to manually stack the trays, and the support block 34 supports the tray at the bottom; when the jacking frame 45 corresponding to a certain guide limit mechanism 3 on the material rack 2 is moved under the action of the drive motor 42, and the jacking frame 45 contacts the bottom of the lowest tray; at the same time, the linear conveying device 2 71 drives the tray 72 to move to the bottom of the square tray, at this time, the support block 34 is driven to disengage from the slot on the lowest tray by the cylinder 33; thereafter, the jacking frame 45 is driven to descend under the action of the drive motor 42, and the descending height is just the entire height of a tray. At this time, the slot on the tray adjacent to the lowest tray just corresponds to the position of the support block 34, and the cylinder 33 drives the support block 34 to move again and engage in the slot, so that the trays can be unloaded one by one, and the unloaded trays are supported by the two jacking frames 45; then, the jacking frame 45 continues to descend, and the tray can be placed on the tray 72.

[0031] When the linear conveying device 2 71 conveys the tray on the tray 72 to the position corresponding to the notch 21 on another material rack 2, the tray on the tray 72 is lifted by the lifting frame 45, and the slot on the tray is made to correspond to the support block 34 on the material rack 2. At this time, the corresponding cylinder 33 drives the support block 34 to be clamped into the slot on the tray, thereby supporting the tray. Similarly, through the above operations, the tray can be loaded one by one.

[0032] The automatic sorting machine also includes a detection mechanism 6 and a counter-position adsorption mechanism 5, and the detection mechanism 6 is arranged on the workbench 1; the counter-position adsorption mechanism 5 is used to adsorb the products in the tray and drive the products through the detection mechanism 6; the counter-position adsorption mechanism 5 includes a linear conveying device 51, and the linear conveying device 51 is installed on the workbench 1; the linear conveying device 51 is provided with a support seat 52, and the support seat 52 is provided with a protective cover 53; a plurality of suction nozzles 55 are provided inside the protective cover 53, and the plurality of suction nozzles 55 are arranged in parallel, and the plurality of suction nozzles 55 are all installed on the support seat 52; a vacuum generator 54 is provided on the protective cover 53, and the number of vacuum generators 54 and the suction nozzles 55 are equal and the positions correspond, and a conduit is connected between each vacuum generator 54 and the corresponding suction nozzle 55, that is, the vacuum generator 54 is used for the suction nozzle 55 to generate negative pressure, and the suction nozzle 55 adsorbs the products on the tray; Figure 8 As shown, there are six suction nozzles 55, and the six suction nozzles 55 can just suck the same row of products on the same tray.

[0033] The alignment adsorption mechanism 5 also includes an alignment camera 56, on which a lens 57 is installed; and a height adjustment device 58 is also provided on the support seat 52, and the height adjustment device 58 is used to adjust the height of the alignment camera 56 and the height of the lens 57; the alignment camera 56 is used to take pictures to identify the position of the tray and the products on the tray, so as to facilitate the linear conveying device 51 to drive the support seat 52 to move, and make each suction nozzle 55 correspond to the position of the same row of products on the tray, so as to facilitate the suction nozzle 55 to adsorb the product; and the height adjustment device is used to adjust the focal length of the lens 57, so that the alignment camera 56 can better identify the tray and the product.

[0034] The waste collection mechanism 8 includes a linear conveying device 3 81, which is installed on the workbench 1; a bracket 82 is provided on the linear conveying device 3 81, and the linear conveying device 3 81 is used to drive the bracket 82 to move; the bracket 82 is used to place a tray (multiple trays can be placed at the same time), and the tray is used to place products that fail the inspection.

[0035] After the suction nozzle 55 absorbs the product, the linear conveying device 51 drives the support seat 52 to move, thereby driving the suction nozzle 55 and the product to move, so that each product passes the inspection of the detection mechanism 6 in sequence and quickly; after the product inspection is completed, under the action of the linear conveying device 2 71, each suction nozzle 55 drives the product to move again and makes the product correspond to the original position. At this time, the suction nozzle 55 corresponding to the qualified product no longer absorbs the product, that is, the qualified product is placed back to the original position; and the unqualified product is detected under the action of the linear conveying device 2 71, so that the unqualified product corresponds to a placement slot for placing products on the tray included in the waste collection mechanism 8. When the suction nozzle 55 no longer absorbs illegal products, the unqualified product can be placed on the tray included in the waste collection mechanism 8.

[0036] In this embodiment, first, the trays with products are stacked in sequence in the guide and limiting mechanisms 3 on one of the material racks 2, and then the trays are unloaded under the action of the corresponding pushing mechanism 4 (please refer to the previous explanation for details, which will not be repeated here), that is, the trays with products are placed on the tray 72, and the linear conveying device 2 71 can drive the tray 72 to move, and the linear conveying device 1 51 can drive the suction nozzle 55 to move. Under the action of the linear conveying device 1 51, the linear conveying device 2 71 and the alignment camera 56, the row of products on the tray closest to the linear conveying device 1 51 corresponds to the position of each suction nozzle 55; then, under the action of the vacuum generator 54, each suction nozzle 55 adsorbs the corresponding product respectively, and the linear conveying device 1 51 drives each product to pass through the detection mechanism 6 quickly and in sequence, and the detection mechanism 6 detects the product; then, the linear conveying device 1 51 drives the product to correspond to the original position again, and the suction nozzle 55 corresponding to the qualified product is moved in the corresponding vacuum generator The suction of the product is released under the action of the device 54, and the product is placed back to its original position; and the suction nozzle 55 corresponding to the unqualified product is driven by the linear conveying device 51, so that the unqualified product is placed in a placement slot for placing products on the tray included in the waste collection mechanism 8. At this time, the suction nozzle 55 corresponding to the unqualified product releases the suction of the product under the action of the corresponding vacuum generator 54, and the unqualified product can be placed on the waste collection mechanism 8, that is, the sorting of the product is realized; repeat the above operation, and inspect and sort the products in each row of the tray corresponding to the tray 72 one by one. When placing the unqualified product, the unqualified product can be placed in the placement slot on the tray where no product is placed each time under the recognition of the alignment camera 56. This is the existing technology, so it will not be repeated here; when all the products in the tray on the tray 72 are inspected and sorted, the loading operation of the tray is realized under the action of the linear conveying device 51 (please refer to the above operation for details, which will not be repeated here).

[0037] In this embodiment, the products on the tray are automatically inspected and sorted, with a high degree of automation, thereby achieving comprehensive and efficient inspection and sorting of products.

[0038] Example 2

[0039] This embodiment is based on the first embodiment. The first linear conveying device 51, the second linear conveying device 71 and the third linear conveying device 81 all use existing linear motor modules. The linear motor modules are installed on the workbench 1. The linear conveying requirements can be met by the linear motor modules.

[0040] Example 3

[0041] See also Figure 9, this embodiment is based on the first embodiment, and the height adjustment device 58 includes a camera fixing seat 584, the alignment camera 56 is installed on the camera fixing seat 584, and the camera fixing seat 584 is movably set on the support seat 52; specifically, a linear guide rail is connected between the camera fixing seat 584 and the support seat 52; the height adjustment device 58 also includes an adjustment motor 581 installed on the support seat 52, and the output end of the adjustment motor 581 is fixedly connected to the cam 582, and a connecting rod 583 is connected between the cam 582 and the camera fixing seat 584, one end of the connecting rod 583 is hinged on the protruding part of the cam 582, and the other end of the connecting rod 583 is hinged on the camera fixing seat 584; by controlling the rotation angle of the adjustment motor 581, the adjustment motor 581 drives the cam 582 to rotate, and the cam 582 drives the connecting rod 583 to move, so as to realize the movement of the camera fixing seat 584, thereby realizing the height adjustment of the alignment camera 56.

[0042] Example 4

[0043] See again Figure 1 In this embodiment, based on the third embodiment, the detection mechanism 6 can specifically adopt a sorting camera 61, which is installed on the workbench 1. The sorting camera 61 is used to identify and detect whether the product is qualified.

[0044] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0045] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A fully automatic sorting machine, comprising a workbench (1), characterized in that: Also includes: A material rack (2), wherein the material rack (2) has two, and the two material racks (2) are arranged on the workbench (1); the two material racks (2) are arranged correspondingly, and each of the material racks (2) is provided with a plurality of notches (21); A plurality of guide and limit mechanisms (3) are provided on each material rack (2); the number of notches (21) and guide and limit mechanisms (3) on the same material rack (2) is equal and their positions correspond; the guide and limit mechanisms (3) on the two material racks (2) are provided in a one-to-one correspondence, and the guide and limit mechanisms (3) are used to guide and limit the tray; Pushing mechanisms (4), the pushing mechanisms (4) are equal in number and corresponding in position to the guide and limiting mechanisms (3), and each of the pushing mechanisms (4) is mounted on the workbench (1); A linear feeding mechanism (7), wherein a linear feeding mechanism (7) is provided below each of the two corresponding guide limiting mechanisms (3); A detection mechanism (6), wherein the detection mechanism (6) is arranged on the workbench (1); A counter-position adsorption mechanism (5), the counter-position adsorption mechanism (5) is used to adsorb the product in the tray and drive the product to pass through the detection mechanism (6); A waste collection mechanism (8), wherein the waste collection mechanism (8) is installed on the workbench (1).

2. A fully automatic sorting machine according to claim 1, characterized in that: The alignment adsorption mechanism (5) comprises: A linear conveying device (51), wherein the linear conveying device (51) is installed on the workbench (1); A support seat (52), wherein the support seat (52) is mounted on the linear conveying device (51); A protective cover (53), wherein the protective cover (53) is arranged on the support seat (52); A suction nozzle (55), wherein the suction nozzle (55) is provided in plurality, the plurality of suction nozzles (55) are arranged in parallel, and each of the suction nozzles (55) is mounted on the support seat (52); The vacuum generator (54) is equal in number to the suction nozzle (55) and has corresponding positions. A conduit is connected between each vacuum generator (54) and the corresponding suction nozzle (55), and the vacuum generator (54) is arranged on the protective cover (53).

3. The fully automatic sorting machine according to claim 2, characterized in that: The alignment adsorption mechanism (5) further comprises: An alignment camera (56), wherein a lens (57) is mounted on the alignment camera (56); A height adjustment device (58) is provided on the support seat (52), and the height adjustment device (58) is used to adjust the height of the alignment camera (56).

4. The fully automatic sorting machine according to claim 3, characterized in that: The height adjustment device (58) comprises: A camera fixing seat (584), wherein the camera fixing seat (584) is movably arranged on the support seat (52), and the alignment camera (56) is installed on the camera fixing seat (584); an adjusting motor (581), wherein the adjusting motor (581) is mounted on the supporting base (52); a cam (582), wherein the cam (582) is fixedly connected to an output end of the regulating motor (581); A connecting rod (583), the two ends of which are hinged on the cam (582) and the camera fixing seat (584) respectively.

5. The fully automatic sorting machine according to claim 1, characterized in that: The detection mechanism (6) includes a sorting camera (61), and the sorting camera (61) is installed on the workbench (1).

6. The fully automatic sorting machine according to claim 1, characterized in that: The guide limiting mechanism (3) comprises: A first guide plate (31), wherein the first guide plates (31) are provided in two pieces and the two first guide plates (31) are symmetrically arranged; The second guide plates (32) include two second guide plates (32), and the two second guide plates (32) are symmetrically arranged; the two first guide plates (31) and the two second guide plates (32) are arranged in a one-to-one correspondence, and the two first guide plates (31) and the two second guide plates (32) enclose an area for accommodating a tray; A cylinder (33) is installed on the material rack (2); an output end of the cylinder (33) is connected to a support block (34); and the support block (34) is used to support the tray.

7. The fully automatic sorting machine according to claim 1, characterized in that: The pushing mechanism (4) comprises: A support frame (41), wherein the support frame (41) is installed at the bottom of the workbench (1); a driving motor (42), wherein the driving motor (42) is mounted on the supporting frame (41); a screw rod (46), one end of which is rotatably mounted on the workbench (1), and the other end of which is fixedly connected to the output end of the drive motor (42); a screw nut (47), wherein the screw nut (47) is fitted on the outside of the screw (46); A lifting plate (43), wherein the lifting plate (43) is fixedly sleeved on the outside of the screw nut (47); A lifting frame (45), wherein the lifting frames (45) are provided in two pieces and the two lifting frames (45) are symmetrically arranged; A lifting rod (44) is connected between each of the lifting frames (45) and the lifting plate (43), and the lifting rod (44) penetrates the workbench (1).

8. The fully automatic sorting machine according to claim 1, characterized in that: The linear feeding mechanism (7) comprises: A second linear conveying device (71), wherein the second linear conveying device (71) is installed on the workbench (1); A tray (72), wherein the tray (72) is arranged on the second linear conveying device (71), and the tray (72) is used to place a tray.

9. The fully automatic sorting machine according to claim 1, characterized in that: The waste collection mechanism (8) comprises: A third linear conveying device (81), wherein the third linear conveying device (81) is installed on the workbench (1); The bracket (82) is arranged on the linear conveying device (81), and the linear conveying device (81) is used to drive the bracket (82) to move.

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